/**

This file is part of MaCI/GIMnet.

MaCI/GIMnet is free software: you can redistribute it and/or modify it 
under the terms of the GNU Lesser General Public License as published 
by the Free Software Foundation, either version 3 of the License, or 
(at your option) any later version.

MaCI/GIMnet is distributed in the hope that it will be useful, but WITHOUT 
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or 
FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public 
License for more details.

You should have received a copy of the GNU Lesser General Public 
License along with GIMnet. (See COPYING.LESSER) If not, see 
<http://www.gnu.org/licenses/>.

**/
#ifndef SONARSET_H_
#define SONARSET_H_

#include "Object.h"
#include "../MaCI/interfaces/Ranging/RangingServer.hpp"
#include "../MaCI/interfaces/Ranging/RangingTypes.hpp"
#include "binbag.h"
#include "Sonar.h"

class CSonarSet : public CObject
{
  public:
    CSonarSet(CWorld *World, CObject *ParentObject, float interval, float range,
              float beamAngle, MaCI::MaCICtrl::CMaCICtrlServer *mcs, int minor, 
              std::string interfaceName);
    
    void Activate();
    
    void Draw();
    
    void Update(float StepSize);
    
    void AddSonar(dBodyID parentBody, dReal *posOffset, dMatrix3 rotOffset, 
                  float direction);
    
    void OnCollision(CPrimitive *primitive, int numc, dContact *contacts, CPrimitive *primitive2);
    
  private:
    
    float interval;
    float range;
    float beamAngle;
    float timer;
    gim::binbag::CBinBag binbag;
    MaCI::Ranging::CRangingData rangingServerData;
    MaCI::Ranging::CRangingServer rangingServer;
    
    std::vector<CSonar*> sonars;
    
};

#endif /*SONARSET_H_*/
